yasarba71520/Line-Following-Robot
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This commit is contained in:
Tim Zeuner 2023-03-03 18:47:41 +01:00
parent 6da9bfff54
commit 94e9c4ba7a
1 changed files with 1 additions and 1 deletions
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Communication/uart_communication.cpp
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@ -66,7 +66,7 @@ double LFR_UART::byteToDouble(int8_t in){
void LFR_UART::sendTelegram(double wheel1, double wheel2, double wheel3, double wheel4){ void LFR_UART::sendTelegram(double wheel1, double wheel2, double wheel3, double wheel4){
std::chrono::milliseconds now = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()); std::chrono::milliseconds now = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
unsigned int deltaMs = static_cast<unsigned int>((now-last).count()); unsigned int deltaMs = static_cast<unsigned int>((now-last).count());
if (deltaMs < 250 && (std::fabs(wheel1)+std::fabs(wheel2)+std::fabs(wheel3)+std::fabs(wheel4)) > 0.0005) if (deltaMs < 50 && (std::fabs(wheel1)+std::fabs(wheel2)+std::fabs(wheel3)+std::fabs(wheel4)) > 0.0005)
{ {
std::cout << "Too fast" << std::endl; std::cout << "Too fast" << std::endl;
return; return;